#ifndef __CONCLUDE_TASK_H
#define __CONCLUDE_TASK_H

#include "main.h"

typedef struct{	
	float cm_out[4];
	float cm_temp[4];
	float merge_final_outvalue;
	float limt_out_value;
	float limit_current;
}cm_motor_t;
extern cm_motor_t cm_motor;




void CONCLUDE_task(void *pvParameters);
void CalChasisAndSend(void);
void CalGimabalAndSend(void);
void CurrentControl(float * exp_speed);
static void chassis_vector_to_mecanum_wheel_speed( fp32 vx_set,  fp32 vy_set,  fp32 wz_set, fp32 * wheel_speed);
void MotorSpeedAnalyze(float *wheel_speed,int16_t maxspeed);
void chassis_set_contorl(float *exp_vx,float *exp_vy,float econder_angle);
void CurrentControl_2(float power,uint16_t buff);
void CurrentControl_3(float* current);
#endif